SimReady Conform FET024MUJOCO

Purpose

Use this exact feature skill when the selected profile, validation report, or user request names FET_024_MUJOCO. It repairs MuJoCo-compatible base articulation authoring without inventing MuJoCo-only articulation schemas.

Default to FET_024_MUJOCO@0.1.0 when no version is specified.

Source of Truth

Before changing an asset or package, read:

• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_024_MUJOCO-0.1.0.json
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_024_MUJOCO.md
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/features/FET_024_STANDARD-0.1.0.json
• nv_core/tiers/simready_foundation_tier_core/simready/foundation/tier_core/capabilities/physics_bodies/base_articulation/requirements/mujoco-standard-articulation-root.md

Feature Versions

Version	Dependencies	Requirements
0.1.0	FET_024_STANDARD@0.1.0	MUJOCO.BA.001

Workflow

1. Identify the exact selected feature/version from the profile TOML, validation report, or user request.
2. Load the selected manifest, feature markdown, dependency manifest, and failing requirement docs before editing.
3. Preserve the single UsdPhysics.ArticulationRootAPI contract.
4. Remove unsupported MjcArticulationRootAPI or MjcArticulationRoot authoring if present.
5. Do not author a MjcArticulationRootAPI; the official MuJoCo schema does not define one.
6. Rerun the narrowest available validation gate and report any missing MuJoCo runtime evidence.

Report Fields

Field	Meaning
feature	Exact feature ID and version, for example FET_024_MUJOCO@0.1.0.
input	Source asset, package root, or package definition inspected.
output	Staged output path, or in-place only when explicitly requested.
requirements_repaired	Requirement IDs repaired in this pass.
validation	Command or inspection used to verify this exact feature.
status	passed, failed, skipped, or blocked.
next_step	The next exact feature skill or runtime evidence needed.